#ifndef __PID_H
#define __PID_H
#include "main.h"
	typedef struct PID {
		float  Kp;
		float  Ki;
		float  Kd;

		float  LastError;
		float  Error;
		float  SumError;

		float  output;
} tPID;

void PID_Init(void);
float PID_Trace_Calc(tPID *PIDX,float Yaw_Bias,float G_Bias);
//uint16_t PID_Speed_Calc(tPID *PIDX);


#endif   
